Related papers: Stable bin packing of non-convex 3D objects with a…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
We study the two-dimensional hierarchical rectangle packing problem, motivated by applications in analog integrated circuit layout, facility layout, and logistics. Unlike classical strip or bin packing, the dimensions of the container are…
We study a two-dimensional generalization of the classical Bin Packing problem, denoted as 2D Demand Bin Packing. In this context, each bin is a horizontal timeline, and rectangular tasks (representing electric appliances or computational…
Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact placement with rapid execution, where…
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…
In this paper we describe a method for packing tubes and boxes in containers. Each container is divided into parts (holders) which are allocated to subsets of objects. The method consists of a recursive procedure which, based on a…
The automation of warehouse operations is crucial for improving productivity and reducing human exposure to hazardous environments. One operation frequently performed in warehouses is bin-packing where items need to be placed into…
Balanced circular bin packing problems consist in positioning a given number of weighted circles in order to minimize the radius of a circular container while satisfying equilibrium constraints. These problems are NP-hard, highly…
Robotic manipulation and grasping in cluttered and unstructured environments is a current challenge for robotics. Enabling robots to operate in these challenging environments have direct applications from automating warehouses to harvesting…
Dynamic space packing (DSP) is a random process with sequential addition and removal of identical objects into space. In the lattice version, objects are particles occupying single lattice sites, and adding a particle to a lattice site…
We present new approximation schemes for bin packing based on the following two approaches: (1) partitioning the given problem into mostly identical sub-problems of constant size and then construct a solution by combining the solutions of…
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to…
In this paper we present a new algorithm for a layout optimization problem: this concerns the placement of weighted polygons inside a circular container, the two objectives being to minimize imbalance of mass and to minimize the radius of…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…